JP3579379B2 - Medical manipulator system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a medical manipulator system, and more particularly to a medical manipulator system including a support device having a wide operating range, a simple mechanism, a light weight, and excellent operability.
[0002]
[Prior art]
Conventionally, in laparoscopic surgery such as cholecystectomy, as shown in FIG. 12, several small holes 151, 152, and 153 are made in the abdomen of a patient 150, a trocar 154 is attached to them, and An endoscope 161, forceps 171, 172, and the like are inserted into these holes, and an operator (usually a surgeon) 160 performs an operation while viewing an image of the endoscope 161 on a monitor 162. Since such a surgical method does not require laparotomy, the burden on the patient is small, and the number of days required for postoperative recovery and discharge from the hospital is significantly reduced. For this reason, such a surgical method is expected to expand its application field.
[0003]
The above-described laparoscopic surgery is an excellent surgical method in that the burden on the patient 150 is small, but only a limited operation through the trocar 154 is possible. Further, the forceps 171 and 172 are provided with only grippers that open and close, and it is difficult to freely change the posture of the grippers, and the operability is poor. Due to the above factors, only a skilled operator can perform an appropriate treatment by the above-described operation method. Also, it takes a very long time to become proficient in surgical methods.
[0004]
In order to solve such a problem, the present inventors, as shown in FIG. 13, an operation command unit 20, a connecting unit 21 having one end connected to the operation command unit 20, the connecting unit 21 And a working unit 22 connected to the other end of the medical manipulator 1. The medical manipulator 1 is supported by the support device 2 so as to have a fixed point 23.
[0005]
The configuration of the support device 2 is as follows. The medical manipulator 1 is supported rotatably about two axes by a horizontal rotating part 105 and an arc guide 106, and is supported via a connecting support part 24 in the insertion direction (linear motion) and around the axis. . The operator can directly guide the position / posture of the work unit 21 by directly operating the operation command unit 20.
[0006]
14 to 16 show a conventional support mechanism for supporting the medical manipulator 1. FIG.
[0007]
[Problems to be solved by the invention]
The connecting portion 21 is supported on a polar coordinate system (two rotation axes and one linear motion axis) with the fixed point 23 as a center, and further supported rotatably about the axis of the connecting portion 21, so that the connecting portion 21 is supported with a total of four degrees of freedom. It will be. As a method of realizing this degree of freedom, basically, as shown in FIG. 14 to FIG. 16, a method in which linear motion axes (insertion directions) such as a rotating shaft, an arc guide, and a parallel link are combined is adopted.
[0008]
However, there is a problem that the operation range in the insertion direction is small. The range in which the operation unit 20 can be moved in the insertion direction is up to the connection support unit 24 (up to the arrow 30 in FIG. 13), and there is a dead space from the fixed point 23 to the connection support unit 24. For this reason, in order to secure a sufficient working area for the working section 22, the length of the connecting section 21 must be increased. For this reason, the medical manipulator 1 is inadvertently enlarged, which causes a decrease in operability. A method of shortening the distance from the fixed point 23 to the connection support 24 may be considered. In this case, however, the distance from the operation unit 20 where the mass is concentrated increases, and the moment load applied to the connection support 24 becomes extremely large. , Which is not preferable in terms of mechanism.
[0009]
Further, in order to improve the operability of the operator 160, it is necessary to perform gravity compensation of the medical manipulator 1. As a method of performing gravity compensation, a method of arranging a counterweight, a spring, and an actuator on each joint axis is generally used. In the conventional method, gravity compensation in a total of two or three directions with respect to the linear motion direction (insertion direction) affected by gravity and the two rotation axis directions of the polar coordinate system or one of the rotation axis directions is required. . Therefore, there has been a problem that the mechanism is complicated and the mass is large. Further, it is very difficult to compensate for the gravity of the connecting support portion 24 in the insertion direction from the viewpoint of the operation range and the space.
[0010]
Further, in general, the linear motion shaft and the arc guide shaft have a large frictional force with respect to the rotation shaft and a large operation force when operated by an operator, so that the operability of the medical manipulator 1 is reduced. Become.
[0011]
SUMMARY OF THE INVENTION It is an object of the present invention to provide a medical manipulator system which solves the above-mentioned problems of the prior art, has a wide operation range, has a simple mechanism, is lightweight, and has excellent operability.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, a medical manipulator system of the present invention is a medical manipulator system including a manipulator and a supporting device that movably supports the manipulator with respect to a fixed unit, wherein the manipulator is operated by an operation command. Part, a connecting part having one end connected to the operation command part, and a working part connected to the other end of the connecting part, wherein the support device extends from the fixed part to the manipulator. It has six joints having six degrees of freedom including a first joint axis, a second joint axis, a third joint axis, a fourth joint axis, a fifth joint axis, and a sixth joint axis. The fourth joint axis, the fifth joint axis, and the sixth joint axis intersect at one intersection, and the direction of the sixth joint axis coincides with the axial direction of the connecting portion. cage, wherein the intersection is located in the connecting portion The support device supports the manipulator at the intersection via the connecting portion, and the manipulator is supported by a trocar that is set at the affected part at a position where the connecting portion is between the intersection and the other end. To be used .
[0013]
The six joints include a first rotating shaft rotatably supported in the horizontal direction with respect to the fixed portion, a first arm fixed to an output shaft side of the first rotating shaft, a second rotary shaft rotatably supported in a horizontal direction to one arm end portion, and a third rotating shaft which is rotatably supported in a direction perpendicular to the second axis of rotation, the third A second arm fixed to the output shaft side of the rotating shaft, a fourth rotating shaft rotatably supported at the tip of the second arm such that the longitudinal direction of the second arm is the rotating shaft, A fifth rotating shaft rotatably supported in a direction orthogonal to the fourth rotating shaft; and a sixth rotating shaft rotatably supported in a direction orthogonal to the fifth rotating shaft. It is characterized by.
[0014]
Also, a gravity compensation mechanism for balancing the weight of the manipulator with respect to the weight of the manipulator is provided on the third rotating shaft, and the first arm is moved from the first rotating shaft side to the second rotating shaft side. It is characterized in that it is inclined upwards .
[0015]
In addition, the first joint axis, the second joint axis, and the third joint axis, or the first joint axis, the second joint axis, the third joint axis, and the sixth joint axis A torque control mechanism or a rotation braking mechanism is provided on the joint shaft.
[0016]
Also, a medical manipulator system including a manipulator and a supporting device movably supporting the manipulator with respect to a fixed portion, wherein the supporting device is supported by the first fixed portion so as to be rotatable in a horizontal direction. A rotation control shaft, a first arm fixed to the output shaft side of the first rotation control shaft, and a second rotation control shaft rotatably supported at the distal end of the first arm in a horizontal direction. A third rotation control shaft rotatably supported in a direction orthogonal to the second rotation control shaft, a second arm fixed to an output shaft side of the third rotation control shaft, A first rotary passive shaft rotatably supported at the distal end of the two arms such that the longitudinal direction of the second arm is the rotation axis; and a rotatable orthogonal to the first rotary passive shaft. A second rotating passive shaft supported; A fourth rotation control shaft rotatably supported in a direction orthogonal to the rotation passive shaft of the first rotation control shaft, wherein the manipulator has one end fixed to an output side of the fourth rotation control shaft. And a working part connected to the other end of the connecting part, wherein the first passive shaft, the second passive shaft, and the fourth rotation control shaft intersect at one intersection. The direction of the fourth rotation control axis and the axial direction of the connecting portion are coincident with each other, the intersection is located at the connecting portion, and the support device moves the manipulator at the intersection through the connecting portion. The manipulator is characterized in that the manipulator is used by being supported by a trocar set at the affected part at a position between the intersection and the other end .
[0017]
According to the present invention, the manipulator is not supported by the support mechanism having the polar coordinate system configuration, and does not employ a configuration in which the manipulator is supported around the axis in the insertion direction (linear motion) via the connecting support portion. Since it has six joints with six degrees of freedom from the fixed part to the manipulator, the operating range can be widened, and a configuration that facilitates gravity compensation is possible. The mechanism is simple, lightweight, and operable. Can be better.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The medical manipulator system of the present invention includes a medical manipulator and a support device that supports the medical manipulator movably with respect to a fixed part.
[0019]
FIG. 1 and FIG. 2 are a perspective view and a degree of freedom arrangement diagram showing a configuration of a medical manipulator system according to a first embodiment of the present invention. FIGS. 3 and 4 are a perspective view and a degree of freedom arrangement diagram showing the configuration of the medical manipulator system 1 according to the second embodiment of the present invention. FIGS. 5 and 6 are a perspective view and a degree of freedom arrangement diagram showing the configuration of the medical manipulator system 1 according to the third embodiment of the present invention. FIG. 7 shows an image diagram at the time of surgery, taking the third embodiment of the present invention as an example. The surgeon grasps the operation unit 20 of the medical manipulator 2 and operates the position and posture of the working unit 22 in the abdominal cavity of the patient 150 to perform an operation.
[0020]
As shown in FIGS. 1 to 6, the medical manipulator system according to the first, second, and third embodiments of the present invention includes an operation command unit 20 and a connecting unit 21 having one end connected to the operation command unit 20. And a medical manipulator 2 having a working part 22 connected to the other end of the connecting part 21, and a supporting device 2 for movably supporting the medical manipulator 2 with respect to the fixed part 10. The support device 2 includes a first joint shaft 101, a second joint shaft 102, a third joint shaft 103, a fourth joint shaft 104, a fifth joint shaft 105, and a sixth joint shaft 101 extending from the fixed unit 10 to the manipulator 2. And six joints having six degrees of freedom of movement.
[0021]
In the first embodiment, the first joint shaft 101 is constituted by a linear motion shaft. On the other hand, in the second and third embodiments, each joint axis of the six joints is constituted only by the rotation axis without the linear motion axis having a large frictional force. It becomes possible to operate the manipulator system.
[0022]
According to the first, second and third embodiments of the present invention, the support device 2 is composed of the first to sixth joint shafts 101 to 106, but the medical manipulator 1 is basically composed of the trocar 154 And the operation is restricted. For this reason, the connecting portion 21 is supported by the polar coordinate system (two rotation axes and one linear motion axis) with the fixed point 23 as the center, and is supported rotatably about the axis of the connecting portion 21 as in the conventional case. , With a total of four degrees of freedom.
[0023]
Since there is no connection support portion 24 (see FIG. 13) when supported by a polar coordinate system mechanism, the operation range of the connection portion 21 in the insertion direction can be made sufficiently wide.
[0024]
In addition, since the counterweight 16 (not shown in FIG. 1) can be arranged not on the tip end side of the support device 2 but on, for example, the arm side or the base side of the support device 2 as shown in FIG. Gravity compensation can be performed more easily without impairing the operation range of the connecting portion 21 in the insertion direction.
[0025]
Further, the rotation axes of the fourth joint shaft 104, the fifth joint shaft 105, and the sixth joint shaft 106 intersect at one point. It is not always necessary to intersect at one point, but by making them coincide, it is possible to prevent the operability from being reduced by the rotational torque generated by the offset.
[0026]
Next, a third embodiment will be specifically described.
As shown in FIGS. 5 and 6, the six joints of the support device 2 of the medical manipulator system according to the third embodiment of the present invention have a first rotation supported by the fixed part 10 so as to be rotatable in the horizontal direction. A shaft (first joint shaft) 101, a first arm 12 fixed to the output shaft side 11 of the first rotating shaft 101, and a rotatably supported in a horizontal direction by a distal end portion 13 of the first arm 12. A second rotation axis (second joint axis) 102, a third rotation axis (third joint axis) 103 rotatably supported in a direction orthogonal to the second rotation axis 102, that is, in a vertical direction; And a second arm 14 fixed to the output shaft side of the third rotating shaft 103, and rotatably supported by the distal end portion 15 of the second arm 14 so that the longitudinal direction of the second arm 14 becomes the rotating shaft. A fourth rotation axis (fourth joint axis) 104 and a fourth rotation axis (fourth joint axis) ) 104, a fifth rotation shaft (fifth joint axis) 105 rotatably supported in a direction perpendicular to the rotation direction, and a sixth rotation shaft 105 rotatably supported in a direction orthogonal to the fifth rotation shaft 105. And a rotation shaft (sixth joint shaft) 106.
[0027]
In addition, the direction of the sixth rotation shaft 106 and the axial direction of the connecting portion 21 match.
[0028]
When supporting the medical manipulator 1, it is necessary to support the mass of the medical manipulator 1 and the mass of the support device 2 itself. Usually, a counterweight or a spring is used in many cases, but when the counterweight is large, the inertia force increases and the operability deteriorates. If the spring is too large, there will be restrictions on space and the system will be large. In the case of the first embodiment, since it is necessary to compensate for the gravity of the first joint shaft 101, it is necessary to support not only the mass of the medical manipulator 1 but also the mass of the entire movable part of the support device 2. In the case of the second embodiment, since it is moved up and down in the direction of gravity via the second rotating shaft 102 and the third rotating shaft 103, it is necessary to compensate for gravity for the second rotating shaft 102 and the third rotating shaft 103. There is. Therefore, it is necessary to support not only the mass of the medical manipulator 1 but also the mass of the entire arm portion of the support device 2. In addition, since the radius of rotation from the first rotation shaft 101 is large, the torque to be compensated increases.
[0029]
On the other hand, according to the third embodiment, since it is moved up and down in the direction of gravity only through the third rotating shaft 103, it is only necessary to compensate for the gravity of the third rotating shaft 103. The mass to be supported is not only the mass of the medical manipulator 1 itself, but also only the relatively small end portions (the fourth axis of rotation 104, the fifth axis of rotation 105, and the sixth axis of rotation 106). . Further, since the turning radius does not need to be considered from the first rotating shaft 101 and may be considered from the second rotating shaft 102, the torque to be compensated may be a small torque. Therefore, the increase in the inertial force due to the counterweight is small, and the operability is significantly improved as compared with the second and third embodiments. Even when a spring is used, gravity compensation can be performed with a smaller spring.
[0030]
In the third embodiment, the first arm 12 is inclined upward by several tens of degrees from the first rotation shaft 101 side to the second rotation shaft 102 side. As a result, the counterweight 16 does not interfere with the first arm 12, and the operating range of the third rotating shaft 103 can be widened.
[0031]
Next, the configuration of the medical manipulator 1 is shown in FIGS. An operation command section 20, a connecting section 21 having one end connected to the operation command section 20, and a working section 22 connected to the other end of the connecting section 21 are provided. The medical manipulator 1 includes two rotation axes (a pitch axis 23 and a roll axis 24) and a gripper axis 25.
[0032]
By arranging the center of gravity on the rotation axis around the roll axis 24, the pitch axis 23, and the connection section 21 of the operation unit 20, not only the position of the working unit 22 is maintained, but also the posture is maintained. It is possible to do.
[0033]
Note that the axial configuration of the medical manipulator 1 does not necessarily need to be the configuration shown in FIGS.
[0034]
Further, the first to third rotating shafts 101, 102, and 103, or the sixth rotating shaft 106 are provided with a torque control mechanism or a rotation braking mechanism such as an actuator, a brake mechanism, and a functional fluid, and the holding torque is reduced. By generating this, the position of the working unit 22 or the posture thereof can be fixedly supported. In this case, even when an external force other than gravity is generated, it is possible to prevent the working unit 22 from unnecessarily operating.
[0035]
Further, by controlling the first to third rotating shafts 101, 102, and 103, the working unit 22 is controlled so as to be able to guide only a predetermined trajectory, or is controlled so as to be able to guide only a predetermined area. It is possible. Although it is possible to reduce the operating force of the operator by positively generating the torque of the actuator in the guiding direction, if safety is taken into consideration, there is a working section other than a predetermined trajectory or a predetermined area. Alternatively, when an attempt is made to guide the vehicle to a place other than a predetermined locus or a predetermined area, it is also possible to generate a torque that returns to a predetermined locus or a predetermined area.
[0036]
It is also possible to intentionally increase or decrease the operation force, and to control it arbitrarily.
[0037]
It is desirable that the medical manipulator 1 and the support device 2 be configured to be easily detachable. Thereby, the use of only the medical manipulator 1 and the use in combination with the support device 2 as necessary become possible. As shown in FIG. 8, there is no particular problem in this attachment / detachment, in addition to the method of separating the medical manipulator 1 and the supporting device 2 and the method of attaching / detaching the sixth rotating shaft 106.
[0038]
Next, a fourth embodiment of the present invention will be described with reference to FIGS. FIG. 10 and FIG. 11 are a perspective view and a degree of freedom arrangement diagram showing the configuration of the present embodiment. The medical manipulator system includes a medical manipulator 1 and a support device 2 that movably supports the medical manipulator 1 with respect to a fixed unit 10.
[0039]
The support device 2 includes a first rotation control shaft 101 supported rotatably in the horizontal direction with respect to the fixed unit 10, a first arm 12 fixed to the output shaft side of the first rotation control shaft 101, A second rotation control shaft 102 supported on the distal end portion 13 of the one arm 12 so as to be rotatable in a horizontal direction, and a third rotation control shaft 102 supported on the second rotation control shaft 102 so as to be rotatable in a direction orthogonal to the second rotation control shaft 102, that is, in a vertical direction. , The second arm 14 fixed to the output shaft side of the third rotation control shaft 103, and the distal end 15 of the second arm 14 so that the longitudinal direction of the second arm 14 becomes the rotation axis. A first rotating passive shaft 104 rotatably supported on the first rotating passive shaft; a second rotating passive shaft 105 supported rotatably in a direction orthogonal to the first rotating passive shaft 104; 105 supported rotatably in a direction orthogonal to Rolling and a control shaft 106, a.
[0040]
In addition, the medical manipulator 1 has a connecting part 21 having one end fixed to the output side of the fourth rotation control shaft 106 and a working part 22 connected to the other end of the connecting part 21.
[0041]
According to the present embodiment, similarly to the above-described third example, since the weight to be compensated for by gravity is small, it is easy to make the medical manipulator system lightweight and compact, and it is possible to take a wide operation range. It is.
[0042]
Further, according to the present embodiment, the position of the working unit 22 can be automatically and arbitrarily guided in the abdominal cavity of the patient 150. Further, by providing the working unit 22 with a rotation axis having at least two degrees of freedom, the position and orientation of the working unit 22 can be arbitrarily and automatically guided.
[0043]
In the above description, the medical manipulator 1 has been described as an example of the manipulator in the present invention. However, the manipulator may be an endoscope instead of the medical manipulator 1.
[0044]
【The invention's effect】
As described above, according to the configuration of the present invention, it is possible to eliminate the connection support portion required when supported by the mechanism of the polar coordinate system, and it is possible to widen the operation range in the insertion direction of the connection portion. become.
[0045]
In addition, a gravity compensation mechanism for balancing the weight of the manipulator can be arranged not on the tip end side of the support device but on the arm side or the base side of the support device. Gravity compensation can be performed more easily without impairing the operating range in the direction.
[0046]
In addition, a medical manipulator system having a supporting device that can reduce the mass to be compensated by the gravity compensation mechanism, can reduce the turning radius of the manipulator, is lightweight and compact, and is less affected by inertial force and excellent in operability. can do.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing a medical manipulator system according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a degree of freedom arrangement of the medical manipulator system according to the first embodiment of the present invention.
FIG. 3 is a schematic perspective view showing a medical manipulator system according to a second embodiment of the present invention.
FIG. 4 is a diagram showing a degree of freedom arrangement of a medical manipulator system according to a second embodiment of the present invention.
FIG. 5 is a schematic perspective view showing a medical manipulator system according to a third embodiment of the present invention.
FIG. 6 is a diagram showing a degree of freedom arrangement of a medical manipulator system according to a third embodiment of the present invention.
FIG. 7 is a conceptual diagram of a medical manipulator system according to a third embodiment of the present invention at the time of surgery;
FIG. 8 is a schematic perspective view showing an example of a medical manipulator according to the embodiment of the present invention.
FIG. 9 is a perspective view showing a degree of freedom arrangement of an example of the medical manipulator according to the embodiment of the present invention.
FIG. 10 is a schematic perspective view showing a medical manipulator system according to a fourth embodiment of the present invention.
FIG. 11 is a diagram showing a degree of freedom arrangement of a medical manipulator system according to a fourth embodiment of the present invention.
FIG. 12 is a diagram showing a state of a conventional laparoscopic operation.
FIG. 13 is a perspective view showing a medical manipulator system already proposed by the present inventors.
FIG. 14 is a view showing a conventional support mechanism for supporting a medical manipulator.
FIG. 15 is a diagram showing a conventional support mechanism for supporting a medical manipulator.
FIG. 16 is a diagram showing a conventional support mechanism for supporting a medical manipulator.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Medical manipulator 2 Support device 12 First arm 14 Second arm 16 Counter weight 20 Operation command part 21 Connection part 22 Work part 23 Fixed point 24 Support connection part 101 First joint axis 102 Second joint axis 103 Third Joint axis 104 fourth joint axis 105 fifth joint axis 106 sixth joint axis 150 patient 160 doctor

Claims (5)

A medical manipulator system including a manipulator and a support device that movably supports the manipulator with respect to a fixed unit,
The manipulator is
An operation command section;
A connection portion having one end connected to the operation command portion,
A working unit connected to the other end of the connecting unit,
The support device,
Six degrees of freedom consisting of a first joint axis, a second joint axis, a third joint axis, a fourth joint axis, a fifth joint axis, and a sixth joint axis from the fixed portion to the manipulator With 6 joints with
The fourth joint axis, the fifth joint axis, and the sixth joint axis intersect at one intersection, and the direction of the sixth joint axis coincides with the axial direction of the connecting portion. ,
The intersection is located at the connection, the support device supports the manipulator at the intersection via the connection,
The medical manipulator system , wherein the manipulator is used by being supported by a trocar set at an affected part at a position between the intersection and the other end of the manipulator. The six joints are
A first rotation shaft supported rotatably in the horizontal direction with respect to the fixed portion;
A first arm fixed to an output shaft side of the first rotation shaft;
A second rotation shaft supported rotatably in the horizontal direction at the tip of the first arm;
A third rotating shaft supported rotatably in a direction orthogonal to the second rotating shaft;
A second arm fixed to the output shaft side of the third rotation shaft;
A fourth rotation shaft rotatably supported at the tip of the second arm such that the second arm longitudinal direction is the rotation axis;
A fifth rotating shaft supported rotatably in a direction orthogonal to the fourth rotating shaft;
The medical manipulator system according to claim 1, further comprising: a sixth rotation shaft supported so as to be rotatable in a direction orthogonal to the fifth rotation shaft. A gravity compensating mechanism for balancing the weight of the manipulator with respect to the weight of the manipulator is provided on the third rotating shaft,
The medical manipulator system according to claim 2, wherein the first arm is inclined upward from the first rotation shaft side toward the second rotation shaft side. The first joint axis, the second joint axis, and the third joint axis, or the first joint axis, the second joint axis, the third joint axis, and the sixth joint axis The medical manipulator system according to claim 1, further comprising a torque control mechanism or a rotation braking mechanism. A medical manipulator system including a manipulator and a support device that movably supports the manipulator with respect to a fixed unit,
The support device,
A first rotation control shaft supported rotatably in the horizontal direction with respect to the fixed portion;
A first arm fixed to an output shaft side of the first rotation control shaft;
A second rotation control shaft supported at the distal end of the first arm so as to be rotatable in a horizontal direction;
A third rotation control axis supported rotatably in a direction orthogonal to the second rotation control axis;
A second arm fixed to the output shaft side of the third rotation control shaft;
A first rotary passive shaft rotatably supported at a distal end of the second arm such that a longitudinal direction of the second arm is a rotation axis;
A second rotary passive shaft supported rotatably in a direction orthogonal to the first rotary passive shaft;
A fourth rotation control shaft supported rotatably in a direction orthogonal to the second rotation passive shaft,
The manipulator is
A connecting portion having one end fixed to the output side of the fourth rotation control shaft;
A working unit connected to the other end of the connecting unit,
The first passive axis, the second passive axis, and the fourth rotation control axis intersect at one intersection, and the direction of the fourth rotation control axis coincides with the axial direction of the connecting portion. And
The intersection is located at the connection, the support device supports the manipulator at the intersection via the connection,
The medical manipulator system , wherein the manipulator is used by being supported by a trocar set at an affected part at a position between the intersection and the other end of the manipulator.

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